WO2014136958A1 - ハンドエグゾスケルトン装置 - Google Patents
ハンドエグゾスケルトン装置 Download PDFInfo
- Publication number
- WO2014136958A1 WO2014136958A1 PCT/JP2014/056032 JP2014056032W WO2014136958A1 WO 2014136958 A1 WO2014136958 A1 WO 2014136958A1 JP 2014056032 W JP2014056032 W JP 2014056032W WO 2014136958 A1 WO2014136958 A1 WO 2014136958A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- exterior part
- spring
- exterior
- joint
- fingers
- Prior art date
Links
- 230000007246 mechanism Effects 0.000 claims abstract description 70
- 210000000811 metacarpophalangeal joint Anatomy 0.000 claims abstract description 6
- 210000001503 joint Anatomy 0.000 claims description 23
- 238000005452 bending Methods 0.000 claims description 14
- 230000033001 locomotion Effects 0.000 abstract description 26
- 238000006243 chemical reaction Methods 0.000 abstract description 3
- 230000000694 effects Effects 0.000 abstract description 3
- 210000003811 finger Anatomy 0.000 description 39
- 239000012530 fluid Substances 0.000 description 6
- 210000001145 finger joint Anatomy 0.000 description 4
- 230000005057 finger movement Effects 0.000 description 4
- 239000000463 material Substances 0.000 description 4
- 230000003863 physical function Effects 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000011084 recovery Methods 0.000 description 2
- 230000003252 repetitive effect Effects 0.000 description 2
- 210000003813 thumb Anatomy 0.000 description 2
- 238000013461 design Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 210000002478 hand joint Anatomy 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003183 myoelectrical effect Effects 0.000 description 1
- 208000033808 peripheral neuropathy Diseases 0.000 description 1
- 238000011158 quantitative evaluation Methods 0.000 description 1
- 238000012549 training Methods 0.000 description 1
- 230000008733 trauma Effects 0.000 description 1
Images
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
- A61H1/0285—Hand
- A61H1/0288—Fingers
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/54—Artificial arms or hands or parts thereof
- A61F2/58—Elbows; Wrists ; Other joints; Hands
- A61F2/583—Hands; Wrist joints
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/54—Artificial arms or hands or parts thereof
- A61F2/58—Elbows; Wrists ; Other joints; Hands
- A61F2/583—Hands; Wrist joints
- A61F2/586—Fingers
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/78—Means for protecting prostheses or for attaching them to the body, e.g. bandages, harnesses, straps, or stockings for the limb stump
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/78—Means for protecting prostheses or for attaching them to the body, e.g. bandages, harnesses, straps, or stockings for the limb stump
- A61F2002/7862—Harnesses, straps
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with the user
- A61H2201/1481—Special movement conversion means
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with the user
- A61H2201/1481—Special movement conversion means
- A61H2201/149—Special movement conversion means rotation-linear or vice versa
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/1635—Hand or arm, e.g. handle
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/165—Wearable interfaces
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1657—Movement of interface, i.e. force application means
- A61H2201/1664—Movement of interface, i.e. force application means linear
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1657—Movement of interface, i.e. force application means
- A61H2201/1676—Pivoting
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5007—Control means thereof computer controlled
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2230/00—Measuring physical parameters of the user
- A61H2230/60—Muscle strain, i.e. measured on the user, e.g. Electromyography [EMG]
- A61H2230/605—Muscle strain, i.e. measured on the user, e.g. Electromyography [EMG] used as a control parameter for the apparatus
Definitions
- the present invention relates to a hand exoskeleton device.
- the present invention relates to a hand-exoskeleton device using a three-layer slide spring mechanism that is attached to a human body and supports finger movement.
- the present invention relates to a hand exoskeleton device that supports the bending and extending movement of fingers by a three-layer slide spring mechanism.
- Non-patent document 1, Non-patent document 2 and the like are known as conventional hand-exo skeleton devices to which a link mechanism is applied.
- Non-Patent Document 3, Non-Patent Document 4, and the like are known as an application of the wire mechanism.
- Non-Patent Document 5, Non-Patent Document 6, and the like are known as fluid drive applications.
- Non-Patent Document 7 is a mechanism using a three-layer connecting slide spring.
- Kamper “A Pneumatic Glove and Immersive Virtual Reality Environment for Hand Rehabilitative Stroke After Transactions on Neural Systems and Rehabilitation Engineering, 18 (5), pp.551-559, 2010.
- Kotaro Kanno Masao Akai, Kazuo Kamonda, Kengo Kajikawajima, “Development of exoskeleton grip force amplification gloves using pneumatic rubber artificial muscles,” Robotics and Mechatronics Lecture, 1P1-E15, 2009.
- Requirements for equipment to be worn on the human body and supporting daily life movements of fingers are small and light, can be worn on the human body and can move naturally, and generates sufficient force to support movement And the like, and can be driven safely.
- link drive As drive means for configuring such a device, link drive, wire drive, and fluid drive can be cited.
- the link drive is a mechanism that transmits the movement of the finger to the tip through the link and drives each finger joint.
- link driving there is a characteristic that a relatively large output is easily obtained, but on the other hand, the apparatus tends to be large. Also, play or the like is likely to occur in the link driving unit.
- the wire drive is a mechanism for driving the joint using a wire, and the entire mechanism can be made small by making the transmission path small and thin with the wire.
- the wire can transmit power only in the direction of the tensile force, the power unit mechanism tends to be complicated. Further, the wire is stretched and contracted.
- Fluid drive is a method of filling the mechanism with fluid and generating drive power by changing its pressure. While a device to be worn on the body can be mounted in a small size, an actuator for compressing fluid is required.
- the mechanism using a three-layered coupled slide spring developed in the past has features such as small size and light weight compared to link drive, wire drive, and fluid drive.
- the structure is complicated because it has moving parts.
- the present invention has been made in view of the above, and an object of the present invention is to provide a hand exoskeleton device having a novel configuration for supporting the finger movement of the human body.
- a hand exoskeleton device that is a three-layer slide spring mechanism that is driven by a driving unit and is attached to a finger, It is composed of a zeroth exterior part, a first exterior part, a second exterior part, and a third exterior part arranged in series from the tip along the longitudinal direction of the fingers,
- the 0th exterior part and the 1st exterior part, the 1st exterior part and the 2nd exterior part, the 2nd exterior part and the 3rd exterior part are arranged in parallel in the vertical direction and are connected by the upper spring and the lower spring, respectively, forming a plurality of sets.
- the upper spring that fixes the upper part of each exterior part has a variable length so that one end can be moved freely with respect to the finger longitudinal direction at a certain distance by a sliding mechanism.
- the lower springs for fixing the lower part of each exterior part are respectively fixed to the exterior part at both ends thereof, In each exterior part, it is equipped with a drive spring that can slide freely only in the longitudinal direction of the fingers, The tip of the drive spring is fixed to the 0th exterior part, the other end of the drive spring is fixed to the drive shaft,
- the upper and lower springs that connect the exterior parts, and the drive spring constitute three layers in the vertical direction, When attaching to the fingers of the human body, the 0th exterior part is located at the end of the distal interphalangeal joint, and the 1st exterior part is located between the distal interphalangeal joint and the proximal interphalangeal joint.
- the drive shaft is driven in the longitudinal direction of the human fingers with respect to the human fingers, so that the distal interphalangeal joint, the proximal interphalangeal joint, and the metacarpophalangeal joint It is characterized by supplying a rotational force and supporting the bending and extending movements of human fingers.
- the lengths of the upper spring and the lower spring respectively connecting the 0th exterior part, the 1st exterior part, the 2nd exterior part, and the 3rd exterior part
- the length of the drive spring is an index that changes the size of the human body to be worn and the timing of bending each joint. The operation can be adjusted by changing these spring lengths.
- One aspect of the present invention is a hand-exoskeleton device that is attached to a human body and supports finger movements.
- a three-layer slide spring mechanism is used to move a single finger operation far from one finger movement. Simultaneously supply rotational force to the interphalangeal joint (DIP joint), proximal interphalangeal joint (PIP joint), and metacarpophalangeal joint (MP joint) so that the device body follows the natural movement of the human body Operate.
- DIP joint interphalangeal joint
- PIP joint proximal interphalangeal joint
- MP joint metacarpophalangeal joint
- This device is arranged on the nail side above the fingers so as to follow the fingers of the human body. Therefore, the finger side from the device is the lower side, and the opposite direction is the upper side.
- the three-layer slide spring mechanism includes a zeroth exterior part, a first exterior part, a second exterior part, and a third exterior part arranged in series from the tip along the longitudinal direction of the finger. Is done.
- the 0th exterior part and the 1st exterior part, the 1st exterior part and the 2nd exterior part, the 2nd exterior part and the 3rd exterior part are connected with a spring element in the up-and-down direction, respectively.
- the lower springs for fixing the lower part of the exterior part are respectively fixed to the exterior part at both ends thereof.
- the upper springs for fixing the upper portions of the respective exterior parts are variable lengths because the fixed ends can be freely moved in the finger longitudinal direction by the slider mechanism.
- the lower springs that fix the lower part of each exterior part are fixed to both ends.
- Each of the exterior parts is provided with a drive spring that can slide freely only in the longitudinal direction of the finger, the tip of the drive spring is fixed to the 0th exterior part, and the other end of the drive spring is fixed to the drive shaft.
- the upper springs connecting the respective exterior parts, the lower springs connecting the respective exterior parts, and the drive spring constitute three layers in the vertical direction.
- Each exterior part is fixed to each part of the finger to be worn using a flexible belt or the like.
- the 0th exterior part is located at the end of the DIP joint
- the 1st exterior part is located at the part between the DIP joint and the PIP joint
- the second exterior part is located at the part between the PIP joint and the MP joint
- the palm part is fixed respectively.
- the 0th exterior part, the 1st exterior part, the 2nd exterior part, the 3rd exterior part, and the drive shaft are made of a material having sufficient strength with respect to the springs connecting them.
- the drive shaft is driven in the longitudinal direction with respect to the human fingers while being attached to the human body, thereby supplying rotational force to the DIP joint, PIP joint, and MP joint, so that the natural finger It can be applied as a device that supports a gripping operation.
- a hand exoskeleton device can be easily mounted on a human body, and uses a single linear actuator to connect a distal interphalangeal joint (DIP joint) and a proximal interphalangeal joint.
- the gripping operation of the mounted human body can be supported by a three-layer slide spring mechanism that is a motion conversion mechanism that applies a driving force to the (PIP joint) and the interphalangeal joint (MP joint).
- FIG. 1 shows a hand-exoskeleton system using a three-layer slide spring mechanism according to an embodiment of the present invention.
- the hand exo skeleton device system includes a three-layer slide spring mechanism 1 and a control unit 3 that controls the driving means 2 of the three-layer slide spring mechanism 1.
- This system is attached to a finger part of a human body and is used to support the movement of the finger part. It is also used for other repetitive motions in rehabilitation.
- FIG. 2 is a perspective view of a mechanism model in the present embodiment
- FIG. 3 is a perspective view of the exterior portion that is a part of the mechanism model of the present embodiment
- FIG. 4 is a conceptual diagram showing a mechanism configuration of the present embodiment. is there.
- the three-layer slide spring mechanism 1 includes a 0th exterior part 4, a first exterior part 5, a second exterior part 6, a third exterior part 7, and a drive shaft 8. Each of the exterior parts 4 to 7 is connected in series by springs 9 to 15 made of leaf springs.
- the first exterior upper spring 9, the second exterior upper spring 10, and the third exterior upper spring 11 respectively connect the upper portions of the exterior portions 4 to 7, and the first slider mechanism 16, the second slider mechanism 17, and the second
- Each of the three slider mechanisms 18 slides freely in the longitudinal direction of the slide spring mechanism 1, that is, in the mechanism longitudinal direction. Therefore, each of the first exterior upper spring 9, the second exterior upper spring 10, and the third exterior upper spring 11 has a variable length that can change the length of the spring that can be bent.
- the sliding distances of the springs 9, 10, and 11 with respect to the exterior portions 4 to 7 can be limited by the stoppers 19, 20, and 21 in the slider mechanisms 16, 17, and 18, respectively.
- the first exterior lower spring 12, the second exterior lower spring 13, and the third exterior lower spring 14 connect the lower portions of the exterior portions 4 to 7, respectively.
- the lower springs 12, 13, and 14 are fixed to the exterior parts 4 to 7 connected to both ends thereof.
- the drive spring 15 is inserted into each of the exterior parts 4 to 7 so as to be freely slidable only in the finger longitudinal direction, the tip of the drive spring 15 is fixed to the 0th exterior part 4, and the other end of the drive spring is , Fixed to the drive shaft 8.
- the exterior part upper springs 9 to 11, the exterior part lower springs 12 to 14 and the drive spring 15 each constitute three layers in the vertical direction of the mechanism.
- the drive spring 15 is provided between the exterior part upper springs 9 to 11 and the exterior part lower springs 12 to 14 in the vertical direction of the mechanism.
- the device When fixing the device as the slide spring mechanism 1 to the finger part of the human body, the device is mounted on the nail side of the finger part, that is, the back side of the hand. Then, the 0th exterior part 4 is located at the end of the DIP joint, the 1st exterior part 5 is located at the part between the DIP joint and the PIP joint, and the second exterior part 6 is located at the part between the PIP joint and the MP joint. The third exterior part 7 is fixed to the part. *
- Each exterior part can be fixed to each part of the finger to be worn using a flexible belt or the like.
- FIG. 5 is an example of a mounting form of the three-layered connection spring slide mechanism 1 when a linear actuator (an example of the drive means 2) is mounted.
- This sliding movement of the drive spring 15 is because the exterior lower springs 12 to 14 have a fixed length and the exterior lower springs 12 to 14 and the drive spring 15 are separated in the spring arrangement direction (vertical direction). Causes the bending direction of the movement.
- the exterior upper springs 9 to 11 serve to prevent excessive deformation and buckling of the drive spring 15.
- the operation of the drive spring 15 in the mechanism longitudinal direction is converted into the rotation direction by the spring of each joint. That is, the operation of the drive spring 15 in the mechanism longitudinal direction is accompanied by an operation in the bending direction at each joint.
- the center of rotation of the bending motion at each joint has a sector shape due to the change in the spring length of each of the upper and lower outer springs 9 to 11, the driving spring 15, and the outer lower springs 12 to 14 that form three layers. Therefore, it is possible to make them coincide with each other by appropriately setting the dimensions of the exterior portions 4 to 7 and the springs 9 to 15 to the operation centers 22 to 24 of the approximate human finger joints to which the mechanism 1 is mounted. . It should be noted that the approximate movement centers 22 to 24 of the human hand and finger joints exist outside the three-layer slide spring mechanism 1 as shown in FIG.
- the slider mechanisms 16 to 18 can easily realize that the spring length is variable by making a part of the spring a free end and sliding the groove in the exterior part freely.
- the stopper is comprised by comprising one end of a spring in a T shape and providing a notch in an exterior part.
- the stoppers in the slider mechanisms 16 to 18 are restrained from sliding movement beyond a certain level, and thus are prevented from rotating. At this time, since the driving force is transmitted to the distal joint, driving of the distal DIP joint and PIP joint is promoted as a result.
- the first exterior lower spring 12, the second exterior lower spring 13, and the third exterior lower spring 14 are constituted by a single continuous spring, and are bonded to the exterior portions 4 to 7 to be attached to the slide spring mechanism 1. Can be configured.
- the length of the three layers of springs arranged at the top of each joint in the device longitudinal direction is arranged according to the center of the human finger joint. Decide to do so.
- the dimensions of the springs 9 to 15 and the exterior parts 4 to 7 and the hardness of the springs 9 to 15 are indicators that change the size of the wearer's fingers and the timing of bending each joint. Yes, the operation can be adjusted by changing these.
- the width and thickness of each spring are determined in consideration of the balance between the joints in view of the material constituting the spring.
- the spring width and thickness of a certain joint are reduced, the joint becomes soft and easily bent at the beginning.
- the width and thickness of the springs of each joint are set large as a whole, the rigidity of the entire apparatus is increased, and a high torque can be generated in the joint portion.
- the force required for driving increases. Therefore, it is necessary to design the hardness of each spring in consideration of the dimensions of the human fingers to be worn, the hardness of the joint, the support operation, and the like.
- the spring material in a range that does not satisfy the yield stress of the spring material in order to avoid breaking the spring.
- a driving device having an output shaft connected to the driving shaft 8 and outputting a linear motion, for example, an actuator combining a motor and a ball screw can be used.
- the distance between the upper and lower exterior springs 9 to 11 and the drive spring 15 in the vertical direction of the mechanism can be set short. Therefore, the distance between the drive spring 15 and the exterior lower springs 12 to 14 is set to be long, and the rotational torque can be efficiently generated in the operation conversion to the rotational motion (bending motion) at each joint.
- the drive spring has a configuration that freely slides in the longitudinal direction in the exterior portions 4 to 7, and therefore, for example, the number of mechanical components is reduced as compared with the mechanism of Non-Patent Document 7. Since it can be reduced, it can be reduced in size, weight, and simplification.
- This device can be mounted on fingers other than the thumb of the human body, but it can also be applied to the flexion and extension of the thumb by simply configuring it as two joints.
- the hand exoskeleton device that is small and easy to carry and supports the bending and extending movement of the finger is configured by a three-layer slide spring mechanism.
- This device is expected to be applied to CPM (Continuous Passive Motion) training of fingers that repeats movements dynamically.
- this device is small and lightweight, it is configured as a device that can be worn on the fingers of a human body, for example, by operating a robot (this device) using the above-mentioned electromyograph signal of a patient with peripheral neuropathy, It is possible to support daily living activities.
- this apparatus is characterized in that bending and extension can be driven with respect to the three joints of fingers by one driving means, and a large driving force can be transmitted. Furthermore, since the apparatus main body has flexibility, it can be driven safely.
- the hand exo skeleton device using the three-layer slide spring mechanism of the present invention can be used as a device for supporting daily life movements, such as other dynamic repetitive motion devices in rehabilitation.
Landscapes
- Health & Medical Sciences (AREA)
- Transplantation (AREA)
- Engineering & Computer Science (AREA)
- Animal Behavior & Ethology (AREA)
- Life Sciences & Earth Sciences (AREA)
- Veterinary Medicine (AREA)
- Public Health (AREA)
- General Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Vascular Medicine (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Heart & Thoracic Surgery (AREA)
- Biomedical Technology (AREA)
- Cardiology (AREA)
- Physical Education & Sports Medicine (AREA)
- Pain & Pain Management (AREA)
- Epidemiology (AREA)
- Rehabilitation Therapy (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Rehabilitation Tools (AREA)
- Manipulator (AREA)
- Prostheses (AREA)
Abstract
Description
手指の長手方向に沿って先端より直列に配置された第0外装部と第1外装部と第2外装部と第3外装部とから構成され、
第0外装部と第1外装部、第1外装部と第2外装部、第2外装部と第3外装部は、上下方向に並列に配置され複数組を成す上部ばね及び下部ばねによりそれぞれ連結され、
それぞれの外装部の上部を固定する上部ばねは、一端をスライド機構により、ある一定の距離を自在に手指長手方向に対して固定端を移動することができるように、可変長となっており、
それぞれの外装部の下部を固定する下部ばねは、その両端においてその外装部にそれぞれ固定され、
それぞれの外装部内には、手指長手方向についてのみ自在にスライド移動可能な駆動ばねを備え、
駆動ばねの先端は第0外装部へ固定され、駆動ばねの他端は、駆動軸へ固定され、
外装部を連結する上部ばね及び下部ばねと、駆動ばねとは、上下方向に三層を構成し、
人体の手指に装着する際には、遠位指節間関節より末端部の部位に第0外装部を、遠位指節間関節と近位指節間関節と間の部位に第1外装部を、近位指節間関節と中手指節間関節と間の部位に第2外装部を、手掌部に第3外装部を、それぞれ固定し、
人体に装着した状態で、駆動軸を人体手指に対してその人体手指の長手方向に駆動することにより、遠位指節間関節と近位指節間関節と中手指節間関節とに対して回転力を供給し、人体の手指についての屈曲伸展動作を支援することを特徴とする。
これらのばね長さを変更することで動作を調整可能となっている。
本出願は、2013年3月8日出願の日本特許出願No.2013-046449に基づくものであり、その内容はここに参照として取り込まれる。
2 駆動手段
3 コントロール部
4 第0外装部
5 第1外装部
6 第2外装部
7 第3外装部
8 駆動軸
9 第1外装上部ばね
10 第2外装上部ばね
11 第3外装上部ばね
12 第1外装下部ばね
13 第2外装下部ばね
14 第3外装下部ばね
15 駆動ばね
16 第1スライダ機構
17 第2スライダ機構
18 第3スライダ機構
19 第1スライダ機構内のストッパ
20 第2スライダ機構内のストッパ
21 第3スライダ機構内のストッパ
22 人体手指のおおよその遠位指節間関節の動作中心
23 人体手指のおおよその近位指節間関節の動作中心
24 人体手指のおおよその中手指節間関節の動作中心
Claims (2)
- 駆動手段によって駆動され手指に装着される三層のスライドばね機構であるハンドエグゾスケルトン装置であって、
前記手指の長手方向に沿って先端より直列に配置された第0外装部と第1外装部と第2外装部と第3外装部とから構成され、
前記第0外装部と前記第1外装部、前記第1外装部と前記第2外装部、前記第2外装部と前記第3外装部は、上下方向に並列に配置され複数組を成す上部ばね及び下部ばねによりそれぞれ連結され、
それぞれの外装部の上部を固定する前記上部ばねは、スライド機構により、ある一定の距離を自在に手指長手方向に対して固定端を移動することができるように、可変長となっており、
それぞれの前記外装部の下部を固定する前記下部ばねは、その両端においてその外装部にそれぞれ固定され、
それぞれの前記外装部内には、手指長手方向についてのみ自在にスライド移動可能な駆動ばねを備え、
前記駆動ばねの先端は前記第0外装部へ固定され、前記駆動ばねの他端は、駆動軸へ固定され、
前記外装部を連結する前記上部ばね及び前記下部ばねと、前記駆動ばねとは、上下方向に三層を構成し、
人体の手指に装着する際には、遠位指節間関節より末端部の部位に前記第0外装部を、前記遠位指節間関節と近位指節間関節と間の部位に前記第1外装部を、前記近位指節間関節と中手指節間関節と間の部位に前記第2外装部を、手掌部に前記第3外装部を、それぞれ固定し、
前記人体に装着した状態で、前記駆動軸を人体手指に対してその人体手指の長手方向に駆動することにより、前記遠位指節間関節と前記近位指節間関節と前記中手指節間関節とに対して回転力を供給し、前記人体の手指についての屈曲伸展動作を支援することを特徴とするハンドエグゾスケルトン装置。 - 前記三層のスライドばね機構において、前記第0外装部と前記第1外装部と前記第2外装部と前記第3外装部とをそれぞれ連結する前記上部ばね及び前記下部ばねの長さと、駆動ばねの長さとは、装着者の手指サイズ、各関節を屈曲させるタイミングを変化させる指標となっており、
これらのばね長さを変更することで動作を調整可能となっている請求項1に記載のハンドエグゾスケルトン装置。
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US14/773,075 US10028880B2 (en) | 2013-03-08 | 2014-03-07 | Hand exoskeleton device |
EP14761013.3A EP2954988B1 (en) | 2013-03-08 | 2014-03-07 | Hand exoskeleton device |
JP2015504425A JP6782542B2 (ja) | 2013-03-08 | 2014-03-07 | ハンドエグゾスケルトン装置 |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2013046449 | 2013-03-08 | ||
JP2013-046449 | 2013-03-08 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2014136958A1 true WO2014136958A1 (ja) | 2014-09-12 |
Family
ID=51491465
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2014/056032 WO2014136958A1 (ja) | 2013-03-08 | 2014-03-07 | ハンドエグゾスケルトン装置 |
Country Status (4)
Country | Link |
---|---|
US (1) | US10028880B2 (ja) |
EP (1) | EP2954988B1 (ja) |
JP (2) | JP6782542B2 (ja) |
WO (1) | WO2014136958A1 (ja) |
Cited By (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2016214402A (ja) * | 2015-05-15 | 2016-12-22 | 国立大学法人九州大学 | ハンドエグゾスケルトン装置 |
JP2017023448A (ja) * | 2015-07-23 | 2017-02-02 | 原田電子工業株式会社 | 指動作補助装置 |
CN108464914A (zh) * | 2018-05-24 | 2018-08-31 | 杭州航弈生物科技有限责任公司 | 基于线驱动的多自由度手部康复外骨骼 |
CN108904216A (zh) * | 2018-05-23 | 2018-11-30 | 广东工业大学 | 一种手部机能康复辅助外骨骼机械手 |
JP2019118681A (ja) * | 2018-01-09 | 2019-07-22 | 国立大学法人 宮崎大学 | 立ち上がり補助装着具 |
Families Citing this family (34)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
GB201403265D0 (en) | 2014-02-25 | 2014-04-09 | Touch Emas Ltd | Prosthetic digit for use with touchscreen devices |
CN104887364B (zh) * | 2014-03-03 | 2018-11-02 | 精工爱普生株式会社 | 指关节驱动装置 |
JP6269171B2 (ja) * | 2014-03-05 | 2018-01-31 | セイコーエプソン株式会社 | 指関節駆動装置 |
TWI657597B (zh) * | 2015-03-18 | 2019-04-21 | 新世紀光電股份有限公司 | 側照式發光二極體結構及其製造方法 |
ITUB20161088A1 (it) * | 2016-02-26 | 2017-08-26 | Scuola Superiore Di Studi Univ E Di Perfezionamento Santanna | Dispositivo esoscheletrico per la mano |
NL2017228B1 (en) * | 2016-07-25 | 2018-01-31 | Univ Delft Tech | Exoskeleton glove |
CN106943277A (zh) * | 2017-04-18 | 2017-07-14 | 上海理工大学 | 自适应穿戴式柔顺外骨骼康复机械手 |
CN106983634A (zh) * | 2017-04-20 | 2017-07-28 | 西安交通大学 | 一种基于多段连续结构的外骨骼手指功能康复装置 |
EP3706702B1 (en) | 2017-11-07 | 2023-11-01 | Ecole Polytechnique Fédérale de Lausanne (EPFL) | Hand exoskeleton device |
US10973660B2 (en) | 2017-12-15 | 2021-04-13 | Touch Bionics Limited | Powered prosthetic thumb |
US11385719B2 (en) | 2018-07-10 | 2022-07-12 | Ecole Polytechnique Federale De Lausanne (Epfl) | Electrostatic brake-based haptic device |
JP7238664B2 (ja) * | 2019-07-23 | 2023-03-14 | 株式会社三洋物産 | 遊技機 |
JP7238663B2 (ja) * | 2019-07-23 | 2023-03-14 | 株式会社三洋物産 | 遊技機 |
JP7238668B2 (ja) * | 2019-07-23 | 2023-03-14 | 株式会社三洋物産 | 遊技機 |
JP7238666B2 (ja) * | 2019-07-23 | 2023-03-14 | 株式会社三洋物産 | 遊技機 |
JP7238665B2 (ja) * | 2019-07-23 | 2023-03-14 | 株式会社三洋物産 | 遊技機 |
JP7238662B2 (ja) * | 2019-07-23 | 2023-03-14 | 株式会社三洋物産 | 遊技機 |
JP7238667B2 (ja) * | 2019-07-23 | 2023-03-14 | 株式会社三洋物産 | 遊技機 |
US11534358B2 (en) * | 2019-10-11 | 2022-12-27 | Neurolutions, Inc. | Orthosis systems and rehabilitation of impaired body parts |
US11931270B2 (en) | 2019-11-15 | 2024-03-19 | Touch Bionics Limited | Prosthetic digit actuator |
CN110772400A (zh) * | 2019-12-02 | 2020-02-11 | 东北大学 | 一种线驱动手外骨骼 |
CN111265388B (zh) * | 2020-02-04 | 2022-02-25 | 成都普崔克机电有限公司 | 一种关节装置 |
CN111228749A (zh) * | 2020-02-23 | 2020-06-05 | 琼台师范学院 | 儿童康复手指矫形器装置 |
EP3909721A1 (en) | 2020-05-15 | 2021-11-17 | ETH Zürich | Moving device for moving a human thumb, hand-exoskeleton and method of grasping |
CN111700773A (zh) * | 2020-06-30 | 2020-09-25 | 江苏理工学院 | 一种手指康复训练装置 |
CN111888184B (zh) * | 2020-07-17 | 2022-10-14 | 哈尔滨工业大学 | 一种用于康复机器人的手部外骨骼 |
CN112245221A (zh) * | 2020-10-14 | 2021-01-22 | 北京邮电大学 | 一种新型的手部外骨骼康复装置 |
CN112641595B (zh) * | 2020-12-02 | 2022-10-28 | 上海海每康智能医疗科技有限公司 | 基于簧片的推拉式手部外骨骼 |
KR102591396B1 (ko) * | 2021-03-23 | 2023-10-23 | 한국과학기술원 | 손가락 관절 운동 장치 |
CN113084845B (zh) * | 2021-03-24 | 2022-09-09 | 北京航空航天大学 | 气动手指 |
CN113084851B (zh) * | 2021-04-22 | 2022-06-28 | 常州工学院 | 一种拟人手指机构 |
CN113332097B (zh) * | 2021-06-04 | 2022-10-25 | 燕山大学 | 一种可远端驱动的柔性四指康复机器人 |
US20230030163A1 (en) * | 2021-07-29 | 2023-02-02 | Hamilton Sundstrand Corporation | Virtual escape, instructor, maintenance and skills training, physical fitness, augmented strength exoskeleton |
CN114734426B (zh) * | 2022-03-11 | 2024-05-24 | 中国科学院自动化研究所 | 手部外骨骼结构控制方法、装置、电子设备及存储介质 |
Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS62188381U (ja) * | 1986-05-20 | 1987-11-30 | ||
JP2005059110A (ja) * | 2003-08-18 | 2005-03-10 | Oki Electric Ind Co Ltd | 多関節装置 |
Family Cites Families (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US2885686A (en) * | 1954-03-23 | 1959-05-12 | Lionel Corp | Prosthetic devices |
JPS5028551Y1 (ja) * | 1969-12-30 | 1975-08-22 | ||
US3909333A (en) | 1973-06-15 | 1975-09-30 | Du Pont | Melt-stabilized segmented copolyester adhesive |
US4167044A (en) * | 1978-02-23 | 1979-09-11 | Iowa State University Research Foundation, Inc. | Means for actuating artificial or disabled arm members |
US4834761A (en) * | 1985-05-09 | 1989-05-30 | Walters David A | Robotic multiple-jointed digit control system |
US5807376A (en) * | 1994-06-24 | 1998-09-15 | United States Surgical Corporation | Apparatus and method for performing surgical tasks during laparoscopic procedures |
JP5301930B2 (ja) | 2008-09-11 | 2013-09-25 | パナソニック株式会社 | 指用動作補助装置 |
JP5472680B2 (ja) | 2009-04-09 | 2014-04-16 | 国立大学法人 筑波大学 | 装着式動作補助装置 |
JP5921225B2 (ja) * | 2011-07-20 | 2016-05-24 | 株式会社岩田鉄工所 | 多指ハンド装置 |
JP6016453B2 (ja) | 2012-05-21 | 2016-10-26 | 国立大学法人九州大学 | 三層の連結ばねスライド機構によるハンドエグゾスケルトン装置 |
-
2014
- 2014-03-07 JP JP2015504425A patent/JP6782542B2/ja active Active
- 2014-03-07 EP EP14761013.3A patent/EP2954988B1/en active Active
- 2014-03-07 US US14/773,075 patent/US10028880B2/en active Active
- 2014-03-07 WO PCT/JP2014/056032 patent/WO2014136958A1/ja active Application Filing
-
2019
- 2019-04-26 JP JP2019086107A patent/JP6821206B2/ja active Active
Patent Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS62188381U (ja) * | 1986-05-20 | 1987-11-30 | ||
JP2005059110A (ja) * | 2003-08-18 | 2005-03-10 | Oki Electric Ind Co Ltd | 多関節装置 |
Non-Patent Citations (8)
Title |
---|
B. L. SHIELDS; J. A. MAIN; S. W PETERSON; A. M. STRAUSS: "An Anthropomorphic Hand Exoskeleton to Prevent Astronaut Hand Fatigue During Extravehicular Activities", IEEE TRANSACTIONS ON SYSTEMS, MAN, AND CYBERNETICS PART A: SYSTEMS AND HUMANS, vol. 27, no. 5, 1997 |
JUNPEI ARATA; KEIICHI OHMOTO; ROGER GASSERT; OLIVER LAMBERCY; HIDEO FUJIMOTO; IKUO WADA: "Development of Hand Exoskeleton device prototype using three-layered Connecting Sliding spring Mechanism", INSTRUMENT AUTOMATIC CONTROL SOCIETY, SYSTEM INTEGRATION DEPARTMENT, LECTURE PROCEEDINGS, 2012, pages 2458 - 2459 |
KOUTARO TADANO; MASAO AKAI; KAZUO KADOTA; KENJI KAWASHIMA: "Development of Exoskeleton Type Grip Amplification Glove using Pneumatic Artificial Muscle", LECTURE ON ROBOTICS AND MECHATRONICS, 2009, pages 1,1 - E15 |
L. CONNELLY; Y JIA; M. L. TORO; M. E. STOYKOV; R. V. KENYON; D. G. KAMPER: "A Pneumatic Glove and Immersive Virtual Reality Environment for Hand Rehabilitative Training After Stroke", IEEE TRANSACTIONS ON NEUTRAL SYSTEMS AND REHABILITATION ENGINEERING, vol. 18, no. 5, 2010, pages 551 - 559 |
S. ITO; H. KAWASAKI; Y. ISHIGURE; M. NATSUME; T. MOURI; Y. NISHIMOTO: "A design of fine motion assist equipment for disabled hand in robotic rehabilitation system", JOURNAL OF THE FRANKLIN INSTITUTE, 2009 |
See also references of EP2954988A4 * |
T.T. WORSNOPP; M.A. PESHKIN; J.E. COLGATE; D.G. KAMPER: "An Actuated Finger Exoskeleton for Hand Rehabilitation Following Stroke", IEEE10TH INTERNATIONAL CONFERENCE ON REHABILITATION ROBOTICS, 2007, pages 896 - 901 |
Y. HASEGAWA; Y MIKAMI; K. WATANABE; Y SANKAI: "Five igngered Assisitive Hand with Mechanical Compliance of Human Finger", IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, 2008, pages 718 - 724 |
Cited By (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2016214402A (ja) * | 2015-05-15 | 2016-12-22 | 国立大学法人九州大学 | ハンドエグゾスケルトン装置 |
JP2017023448A (ja) * | 2015-07-23 | 2017-02-02 | 原田電子工業株式会社 | 指動作補助装置 |
JP2019118681A (ja) * | 2018-01-09 | 2019-07-22 | 国立大学法人 宮崎大学 | 立ち上がり補助装着具 |
CN108904216A (zh) * | 2018-05-23 | 2018-11-30 | 广东工业大学 | 一种手部机能康复辅助外骨骼机械手 |
CN108464914A (zh) * | 2018-05-24 | 2018-08-31 | 杭州航弈生物科技有限责任公司 | 基于线驱动的多自由度手部康复外骨骼 |
Also Published As
Publication number | Publication date |
---|---|
EP2954988A4 (en) | 2016-11-16 |
US20160015590A1 (en) | 2016-01-21 |
US10028880B2 (en) | 2018-07-24 |
EP2954988A1 (en) | 2015-12-16 |
JP6821206B2 (ja) | 2021-01-27 |
JP6782542B2 (ja) | 2020-11-11 |
EP2954988B1 (en) | 2020-05-06 |
JP2019134968A (ja) | 2019-08-15 |
JPWO2014136958A1 (ja) | 2017-02-16 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP6821206B2 (ja) | ハンドエグゾスケルトン装置 | |
JP6016453B2 (ja) | 三層の連結ばねスライド機構によるハンドエグゾスケルトン装置 | |
Gopura et al. | Mechanical designs of active upper-limb exoskeleton robots: State-of-the-art and design difficulties | |
Gopura et al. | Developments in hardware systems of active upper-limb exoskeleton robots: A review | |
Arata et al. | A new hand exoskeleton device for rehabilitation using a three-layered sliding spring mechanism | |
Gopura et al. | A brief review on upper extremity robotic exoskeleton systems | |
Yang et al. | A novel motion-coupling design for a jointless tendon-driven finger exoskeleton for rehabilitation | |
Cempini et al. | Kinematics and design of a portable and wearable exoskeleton for hand rehabilitation | |
Ueda et al. | The multifingered NAIST hand system for robot in-hand manipulation | |
CN103538077B (zh) | 一种多自由度机器仿生手 | |
Grosu et al. | Driving robotic exoskeletons using cable-based transmissions: a qualitative analysis and overview | |
Lovasz et al. | Design and control solutions for haptic elbow exoskeleton module used in space telerobotics | |
Ferguson et al. | Hand exoskeleton systems—Overview | |
Burns et al. | Towards a wearable hand exoskeleton with embedded synergies | |
Tang et al. | An exoskeleton system for hand rehabilitation driven by shape memory alloy | |
AbdulKareem et al. | Recent trends in robotic systems for upper-limb stroke recovery: A low-cost hand and wrist rehabilitation device | |
Matheson et al. | Augmented robotic device for EVA hand manoeuvres | |
In et al. | Analysis of the forces on the finger joints by a joint-less wearable robotic hand, SNU Exo-Glove | |
Chay et al. | Upper extremity robotics exoskeleton: Application, structure and actuation | |
Decker et al. | A hand exoskeleton device for robot assisted sensory-motor training after stroke | |
Petre et al. | Pneumatic muscle actuated wrist rehabilitation equipment based on the fin ray principle | |
Semasinghe et al. | HyPro: A Multi‐DoF Hybrid‐Powered Transradial Robotic Prosthesis | |
Tanaka et al. | Development of an ADL assistance apparatus for upper limbs and evaluation of muscle and cerebral activity of the user | |
Yang et al. | Research on SMA actuated tendon driven hand exoskeleton with bidirectional finger joint motion coupling for rehabilitation usage | |
JP6548217B2 (ja) | ハンドエグゾスケルトン装置 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 14761013 Country of ref document: EP Kind code of ref document: A1 |
|
ENP | Entry into the national phase |
Ref document number: 2015504425 Country of ref document: JP Kind code of ref document: A |
|
WWE | Wipo information: entry into national phase |
Ref document number: 14773075 Country of ref document: US |
|
NENP | Non-entry into the national phase |
Ref country code: DE |
|
WWE | Wipo information: entry into national phase |
Ref document number: 2014761013 Country of ref document: EP |